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Stability and transparency of delayed bilateral teleoperation with haptic feedback

Treść / Zawartość
Identyfikatory
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.
Rocznik
Strony
681--692
Opis fizyczny
Bibliogr. 42 poz., rys., wykr.
Twórcy
  • Department of Automatic Control, CINVESTAV-IPN, Av IPN 2508, 07360 Mexico City, Mexico
autor
  • Department of Automatic Control, CINVESTAV-IPN, Av IPN 2508, 07360 Mexico City, Mexico, yuw@ctrl.cinvestav.mx
autor
  • Department of Computation, CINVESTAV-IPN, Av IPN 2508, 07360 Mexico City, Mexico
Bibliografia
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  • [34] Ousaid, A.M., Haliyo, D.S., Rgnier, S. and Hayward, V. (2015). A stable and transparent microscale force feedback teleoperation system, IEEE/ASME Transactions on Mechatronics 20(5): 2593–2603.
  • [35] Rebelo, J. and Schiele, A. (2015). Time domain passivity controller for 4-channel time-delay bilateral teleoperation, IEEE Transactions on Haptics 8(1): 79–89.
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  • [40] Yokokohji, Y., Imaida, T. and Yoshikawa, T. (1999). Bilateral teleoperation under time-varying communication delay, IEEE/RSJ International Conference on Intelligent Robots and Systems: Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, Kyongju, South Korea, Vol. 3, pp. 1854–1859.
  • [41] Yokokohji, Y. and Yoshikawa, T. (1994). Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment, IEEE Transactions on Robotics and Automation 10(5): 605–620.
  • [42] Zhu, M. and Salcudean, S.E. (1995). Achieving transparency for teleoperator systems under position and rate control, IEEE/RSJ International Conference on Intelligent Robots and Systems: Human Robot Interaction and Cooperative Robots, Pittsburgh, PA, USA, Vol. 2, pp. 7–12.
Uwagi
PL
Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-0285c51a-e15e-4080-8b0b-37914013245b
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